CN108803683A - Multi-cam tracking camera system based on ZigBee wireless sensor networks and method - Google Patents
Multi-cam tracking camera system based on ZigBee wireless sensor networks and method Download PDFInfo
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- CN108803683A CN108803683A CN201810478819.7A CN201810478819A CN108803683A CN 108803683 A CN108803683 A CN 108803683A CN 201810478819 A CN201810478819 A CN 201810478819A CN 108803683 A CN108803683 A CN 108803683A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
- G05D3/20—Control of position or direction using feedback using a digital comparing device
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
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Abstract
The invention discloses multi-cam tracking camera systems and method based on ZigBee wireless sensor networks, the system obtains the position of current target to be tracked using indoor positioning technologies, the direction of current each camera is obtained using electronic compass, and then calculate rotation angle and the direction of rotation of each holder, and it controls holder and is rotated, so that the camera on each holder shoots target tracking, by constantly recycling positioning, it obtains and is directed toward, calculate rotation angle and direction, the operations such as rotary head shoot to realize that lasting multi-cam tracks the multi-angle of target object.It is abundant with shooting angle, the advantages that target not easy to lose, pointing accuracy is high.
Description
Technical field
The present invention relates to a kind of multiple cameras to the real-time tracing camera system and method for indoor sport target, especially
It is related to a kind of camera tracking camera system and method based on ZigBee wireless sensor networks, it is embedded belongs to sensor technology
The crossing domain of exploitation and wireless communication.
Background technology
Target following is always a kind of important research direction of academia and industrial quarters.Such as it is needed in biological study
To in a movement biopsy samples (such as bird in circling in the air, quickly run in dog) be carried out at the same time multiple angles and orientation
Observation shooting in real time；For example, with the development of camera work and VR videos, generally require to carry out a mobile target real-time
The shooting of multi-angle is spliced into panoramic pictures or panoramic video for the later stage.
And current camera real-time tracing shooting is primarily present problems with：
1) the single camera tracking that the shooting of traditional target tracking uses, shooting is plane picture, and the later stage is inconvenient
Splicing is at panoramic pictures.
2) using image recognition algorithm, picture or video identification based on shooting go out to be chased after traditional target tracking
The target of track, the background where difference is apparent between the target individual that is tracked and target are also constantly changing, to detection and
The robustness requirement of tracing algorithm is very high, and calculation amount is very big.However, being once tracked between target and camera, there are other
Shelter, system will be easily lost target, and accordingly, there exist prodigious unreliabilities.
Invention content
The purpose of the present invention is can effectively avoid target caused by target is blocked from losing problem, propose a kind of mounted on room
The interior multi-cam real-time tracing camera system and its implementation based on wireless sensor network.
It is chased after in order to solve the above technical problems, the present invention establishes a kind of multi-cam based on ZigBee wireless sensor networks
Track camera system, which is characterized in that the system includes：It local server, indoor positioning module, several holder modules and several takes the photograph
As head module；
Wherein, the local server is used for each mould of real-time analyzing processing as the processing center of information with control centre
The data of block transmission and the work and linkage for controlling modules, local server is by ZigBee coordinators with Zigbee protocol
It is communicated with other modules；
Indoor positioning module includes several anchor nodes used for positioning and 1 node to be positioned；The section to be positioned
Point is mounted on and is tracked in target, and the anchor node is placed indoors, and the indoor positioning module includes ZigBee communication module
And by Zigbee protocol to local server transmission data；
The holder module is for installing camera module and rotating camera module；Holder module is logical comprising ZigBee
Believe module, electronic compass, stepper motor, stepper motor driving plate, turntable, pallet, central controller and power module；Holder mould
The ZigBee communication module of block is connect with central controller, and central controller connects with electronic compass and stepper motor driving plate respectively
It connects, the stepper motor driving plate for control signal to be powered and provided to stepper motor is connect with stepper motor, the power supply mould
Block is respectively ZigBee communication module, central controller, electronic compass and the power supply of stepper motor driving plate；For disposing camera
Turntable be mounted on stepping motor rotating shaft at the top of；The pallet is set to the bottom of holder module, for installing ZigBee communication
Module, stepper motor, stepper motor driving plate, central controller and power module；
The holder module is by Zigbee protocol to local server transmission data；
Collected video is transferred to local server by the camera module by WiFi.
On the other hand, the present invention provides a kind of multi-cam tracking shooting implementation method based on wireless sensor network,
Specific implementation step is as follows：
1) it installs on node to target to be tracked to be positioned, indoor positioning anchor node and M holder is placed in rectangular chamber,
And a camera is set on the turntable of each holder；
2) tracking target is treated to be positioned；
3) local server obtains the plane direction data of current each camera；
4) local server calculates rotation angle and the direction of rotation of each holder, and sends control command respectively to each
A holder；
5) local server waits for T milliseconds, then detects whether user stopped system；If user's halt system,
System stops；Otherwise, it enters step 2).
Further, the step 1) includes one electronic compass of setting on each holder, and adjusts camera and refer to
To consistent with electronic compass.
Further, the step 2) is treated before tracking target is positioned and is included in local server with positioning anchor
Any one anchor node in node is coordinate origin, inputs all other positioning anchor node relative to selected coordinate origin
Coordinate value (mi,ni), wherein i indicates the number of anchor node, while inputting coordinate of all holders relative to selected coordinate origin
It is worth (xi,yi), wherein i indicates the number of holder.
Further, tracking target is treated using weighted mass center location algorithm in step 2) to be positioned to obtain mesh to be tracked
Target position (xe,ye), weighted mass center location algorithm expression formula is：
Wherein, mi,niFor the coordinate value of i-th of anchor node of step, wiFor the weight that i-th of anchor node is endowed, diIt is undetermined
The distance between position node and i-th of positioning anchor node,
Further, the distance between node to be positioned and i-th of positioning anchor node d are calculatediWhen survey indoors in advance
It measures multigroup for reflecting that the signal strength that node to be positioned positions the signal strength that anchor node communicates with i-th indicates RSSI data
RiWith corresponding node to be positioned and i-th of positioning anchor nodal distance di；By obtaining R to curve matchingiWith diEmpirical equation
Expression formula it is as follows：
di=a1×Ri 3+a2×Ri 2+a3×Ri+a4
Wherein a1、a2、a3、a4For the function coefficients being calculated.
Further, local server sends signal B to M holder module in step 3), and M holder module receives signal
After B, the geomagnetic data of electronic compass is obtained；M holder module sends XY axis and is directed toward vector (αi,βi), 1≤i≤M takes to local
Business device, the plane that local server obtains current each camera are directed toward data.
Further, the method for the rotation angle that local server calculates i-th of holder in step 4) is as follows：
According to vector dot principle,Wherein θ isWithAngle, that is, rotate
Angle.Due to when determining direction of rotation, direction of rotation is determined with the rotation angle no more than π, so here it is considered that 0
≤ θ < π.So fromIt rotates toRotation angle expression formula it is as follows：
In formula
Wherein 1≤i≤M.
(αi,βi) it is that the camera of i-th holder currently points to, (xe,ye) sat for the position of current node to be positioned
Mark；
The rotation angle θ of i-th of holderiCalculation formula be：
Further, the direction of rotation computational methods of i-th of holder of local server calculating are as follows in step 4)：
According to vector multiplication cross principle,Wherein 1≤i≤
M, vectorFor the unit vector of direction straight up；
According to the right-hand rule of vectorial multiplication cross,Direction press the right hand fromIt is turned to the angle no more than πTo determine
's；
Work as αi×(ye-yi)-βi×(xe-xi) > 0 when, multiplication cross result direction is upward, according to the right-hand rule, i-th of holder
Rotation counterclockwise；
Work as αi×(ye-yi)-βi×(xe-xi) < 0 when, multiplication cross result is downward, according to the right-hand rule, i-th of holder up time
Needle rotates；
Work as αi×(ye-yi)-βi×(xe-xi)=0, multiplication cross result are null vector, and i-th of holder does not rotate.
Advantageous effect
The present invention has following advantage：
1) it finally shoots a target simultaneously from different perspectives using multiple cameras, facilitates later stage splicing at panorama
Picture or panoramic video.
2) indoor positioning technologies determination is used to be tracked target location, relative to traditional true using the method for image recognition
Surely it is tracked target location, does not require camera and be tracked between target not block, to the better adaptability of complex environment,
It is not easy to lose to be tracked target.
3) it uses Geomagnetism Information to judge the direction of camera on current holder, accumulated error problem is not present, and be directed toward
Precision is higher.
Description of the drawings
Fig. 1 is the system structure diagram of the present invention；
Fig. 2 is the indoor positioning module diagram of one embodiment of the invention；
Fig. 3 is the holder module structure schematic diagram of one embodiment of the invention；
Fig. 4 is the holder module physical structure diagram of one embodiment of the invention；
Fig. 5 is flow chart of the method for the present invention；
Fig. 6 is the anchor node present position that one embodiment of the invention locating module includes.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment 1：
It being mounted on the indoor multi-cam real-time tracing based on wireless sensor network the purpose of the present invention is to propose to a kind of
Camera system and its implementation, system structure is as shown in Figure 1, include：
1) local server
2) indoor positioning module
3) holder module
4) camera module
Wherein, local server is processing center and the control centre of information, by coordinator with Zigbee protocol and its
He communicates modules.The data that real-time analyzing processing modules are sent, and control the work and linkage of modules.
Herein, local server and ZigBee coordinators be communicate through a serial port.ZigBee coordinators include CC2530, antenna, electricity
Source.Local server chooses Lenovo Y50 personal computers, carries 7 64 bit manipulation systems of Windows.
Indoor positioning module includes 4 anchor nodes used for positioning and 1 node to be positioned, is constructed such as Fig. 2 institutes
Show.On being tracked target, specific implementation can as needed exist node installation to be positioned node installation to be positioned when of the invention
Any position.Target to be tracked is quadrotor drone in the present embodiment, one in unmanned plane of node installation to be positioned
On undercarriage.Node to be positioned is chased after by obtaining the RSSI data with 4 anchor nodes using the calculating of weighted mass center location algorithm
The position of track target.Herein, RSSI indicates for signal strength, the signal strength that reflection anchor node is communicated with node to be positioned, into
And calculate the distance between anchor node and node to be positioned.Each anchor node includes CC2530, antenna, electricity with node to be positioned
Source.Holder module includes CC2530, electronic compass AK8963C, stepper motor 28BYJ-48, stepper motor driving plate ULN-
2003, turntable, lower tray, power supply, organigram are as shown in Figure 3.Wherein, CC2530 is ZigBee communication module,
AK8963C is electronic compass chip, and ULN-2003 is stepper motor driving plate, and 28BYJ-48 is stepper motor, and MCU is center
Controller.Central controller effect, using the prior art, is not done here superfluous by using the action of protocol integrated test system peripheral equipment
It states.
Holder module is for installing camera module and rotating camera module.System includes 5 holder modules altogether.
Wherein, electronic compass AK8963C chips are mounted on turntable, are located at disk upper surface edge, and be connected with CC2530, this
Place, CC2530 are installed on the pallet below shaft.Electronic compass be it is a kind of electronically detection the earth earth magnetism after calculate
The sensor for going out azimuth (magnetic north), the compass being widely used in smart mobile phone, in the applications such as electronic map.Herein, electric
After sub- compass calculates the direction of current sensor using Hall effect base area magnetic field, and then current holder can be calculated
The direction of camera in (following " holder " i.e. described holder module), and then the direction currently pointed to can be calculated and wait tracking
The misalignment angle between direction residing for target.Stepper motor 28BYJ-48 is connected on stepper motor driving plate ULN-2003,
Stepper motor driving plate ULN-2003 is connected with CC2530.Stepping motor rotating shaft connects turntable, the support being installed below turntable
On disk, it is used for the rotation of driving disc, physical structure diagram to be as shown in figure 4, Fig. 4 shows that holder module object construction is illustrated
Figure, wherein E CC2530, as ZigBee communication module, F are AK8963C electronic compass chips, and G is ULN-2003 stepping electricity
Machine driving plate, H are 28BYJ-48 stepper motors, and I is shaft, and J is lower tray, and K is turntable, and L is the position for installing camera.
Camera module is transferred to local using OV7620 video capture processors as core, by collected video by WiFi
Server.Camera module is for tracking photographic subjects object.System includes altogether 5 camera modules, corresponds respectively to 5
Holder module.Camera node installation follows turntable to rotate together on the turntable of holder module, and mesh to be tracked is shot with tracking
Mark.The turntable of each holder installs a camera shooting head node.
Multi-cam tracking shooting implementation method based on wireless sensor network, flow chart is as shown in figure 5, specific implementation step
It is rapid as follows：
Step 1：The target to be tracked of test is a quadrotor drone, by the node to be positioned of indoor positioning module
Above a undercarriage of unmanned plane.Test room is 15 meters one long, wide 10 meters of rectangle, by indoor positioning module
4 anchor nodes used for positioning be placed on indoor 4 corners of rectangle, here it is considered that the present invention is only applicable to indoor vertical view
It is the indoor environment of rectangle.
M camera is placed on the turntable of M holder, each holder places a camera, and makes camera
It is directed toward and is directed toward unanimously with electronic compass AK8963C.M holder is placed to the M position disperseed as possible indoors so that arbitrary two
Minimum range between a holder is big as possible.After the completion of each holder is placed, each holder is adjusted manually so that on each holder
Camera be directed at the initial position of target to be tracked as possible.In local server, with any one anchor section of 4 anchor nodes
Point is coordinate origin.5 cameras are placed on the turntable of 5 holders in the present embodiment, each holder is placed one and taken the photograph
As head, and it is consistent with electronic compass AK8963C directions so that camera is directed toward.5 holders are placed on indoor 5 positions,
Wherein four corners respectively place one, and room centre position places 1.The quantity of holder module and camera module in system
Depending on user demand, holder and camera quantity are more, then shooting angle is more.After the completion of each holder is placed, adjust manually
Save each holder so that the camera on each holder is directed at the initial position of target to be tracked as possible.Indoor each node
The schematic diagram of position is affixed one's name to as shown in fig. 6, each section in interior in the case that Fig. 6 shows holder quantity and camera quantity M=5
The schematic diagram of point deployment.Wherein, ellipse is the anchor node present position that indoor positioning module includes, and rectangle is target to be tracked
Present position, triangle are each holder present position.
Then, in local server, using the anchor node of southwest corner as coordinate origin, using due east direction as positive direction of the x-axis,
Direct north is positive direction of the y-axis, inputs coordinate value (m of the every other anchor node relative to selected origini,ni), 1≤1≤3,
Input coordinate value (x of all holders relative to selected origini,yi),1≤i≤5。
Step 2：After activation system, due to the direction of the direction target not necessarily to be tracked of current each camera,
So the adjusting to be directed toward, needs the deflection rotated to calculate each camera, first has to orient and currently wait for
Track the position of target.
The positioning of target to be tracked, using weighted mass center location algorithm.Local server, which is sent, indicates that request carries out interior
The signal A of positioning gives the node to be positioned being mounted in target to be tracked, node to be positioned to obtain itself and 4 after receiving signal A
RSSI numerical value R between anchor nodei, 1≤i≤4, and it is sent to local server, target to be tracked is carried out by local server
Position calculate.The packet content of signal A is as shown in table 1.
The packet content of 1 signal A of table
Byte：
Herein, it is believed that the present invention be only applicable to node to be positioned always indoors the case where.Assuming that current to be positioned
The position of node is (xe,ye).Weighted mass center calculation formula is：
Wherein, 1≤i≤4, mi,niFor the coordinate value of pre-set i-th of anchor node in step 1.It is i-th
The weight that a anchor node is endowed, diFor the distance between node to be positioned and i-th of anchor node, measure indoors in advance multigroup
RSSI data RiWith corresponding distance di, RiWith diEmpirical equation：
di=a1×Ri 3+a2×Ri 2+a3×Ri+a4
It is influenced by factors such as ground material, house size, metopes, the coefficient a in above formulaj, 1≤j≤4 can be because different
House and change correspondingly.So indoor positioning module needs to measure in advance and by MATLAB least square fittings, finds out RiWith di
Coefficient a in functional relationj。
It is carried out curve fitting by MATLAB, obtains RiWith diEmpirical equation expression formula be
di=0.0163 × Ri 3+0.0762×Ri 2+16.31×Ri+93.22
Thus local server obtains the position (x of node to be positionede,ye), also just obtain the position of target to be tracked
(xe,ye).Herein, since node installation to be positioned is on target to be tracked, therefore, it is considered that the position of node to be positioned is exactly to wait for
Track the position of target.After local server completes the calculating of the target location of this step, 3 are entered step.
Step 3：Local server has been calculated after the position of current target to be tracked, in order to complete to be imaged on holder
Head module treats the tracking shooting of tracking target, the direction for obtaining current each camera is needed, to calculate separately out each take the photograph
Rotation angle as head and direction of rotation.Local server sends the signal B for indicating acquisition request directional information to M holder mould
Block after M holder module receives signal B, obtains the geomagnetic data of electronic compass AK8963C.Since electronic compass AK8963C is
Three axle magnetometer gets chip in the direction vector of three dimensions, and this system only needs plane to be directed toward data, therefore M cloud
Platform module sends XY axis and is directed toward vector (αi,βi), 1≤i≤M is to local server.Since in step 1, we make camera refer to
It is consistent to being directed toward with electronic compass, so, the direction of electronic compass is exactly the direction of camera.
The obtaining step that each camera is directed toward in the present embodiment is as follows.Local server sends signal B to 5 holders
Module after 5 holder modules receive signal B, obtains the geomagnetic data of respective electronic compass AK8963C respectively.Herein, signal
The packet content of B is as shown in table 2.
The packet content of 2 signal B of table
Byte：
Since electronic compass AK8963C is three axle magnetometer, the direction for getting chip in three dimensions is vectorial, and this is
System only carries out the rotation of two dimensional surface, therefore plane is only needed to be directed toward data, therefore 5 holder modules transmission XY axis are directed toward vector
(αi,βi), local server is given in 1≤i≤5.Since in step 1, it is consistent with electronic compass direction that we make camera be directed toward,
So the direction of electronic compass is exactly the direction of camera.
Step 4：Local server got each holder currently point to and after tracking target coordinate after, start to count
Calculate rotation angle and the direction of rotation of each holder.(xi,yi), 1≤i≤5 are the coordinate of i-th of the holder inputted in step 1,
(αi,βi), 1≤i≤5 are that the camera of i-th of holder that is obtained in step 3 currently points to vector, (xe,ye) it is in step 2
The position of current target to be tracked.If vectorialFor the current direction of i-th of cradle head camera to
Amount.VectorIt is directed toward vector for the target of i-th of cradle head camera.
Then the direction of rotation computational methods of i-th of holder are as follows：
Because vectorialAnd vectorBe two dimensional surface vector, according to vector multiplication cross principle,Wherein 1≤i≤5, wherein 1≤i≤5, vectorIt is vertical for direction
Upward unit vector.According to the right-hand rule of vectorial multiplication cross,Direction press the right hand fromIt is turned to the angle no more than π
Come what is determined.Work as αi×(ye-yi)-βi×(xe-xi) > 0 when, multiplication cross result direction is upward, according to the right-hand rule, i-th of holder
Rotation counterclockwise.Work as αi×(ye-yi)-βi×(xe-xi) < 0 when, multiplication cross result is downward, and according to the right-hand rule, i-th of holder is suitable
Hour hands rotate.Work as αi×(ye-yi)-βi×(xe-xi)=0, multiplication cross result are null vector, and i-th of holder does not rotate.
The rotation angle computational methods of i-th of holder are as follows：
According to vector dot principle,Wherein θ isWithAngle, that is, rotate
Angle.Due to when determining direction of rotation, direction of rotation is determined with the rotation angle no more than π, so here it is considered that 0
≤ θ < π.So fromIt rotates toRotation angle expression formula it is as follows：
In formula
Wherein 1≤i≤5.So the rotation angle θ of i-th of holderiCalculation formula be：
Thus direction of rotation and the rotation angle θ of i-th holder are obtainedi.If i-th of holder rotates clockwise, this
Ground server, which is sent, indicates that i-th of holder request rotates clockwise θiThe signal C of angleiTo i-th of holder module, signal CiIn
Encapsulate rotation angle θi, signal CiPacket content it is as shown in table 3.If i-th of holder rotates counterclockwise, local service
Device, which is sent, indicates that i-th of holder request rotates counterclockwise θiThe signal D of angleiTo i-th of holder module, signal DiMiddle encapsulation rotation
Gyration θi, signal DiPacket content it is as shown in table 4.
3 signal C of tableiPacket content
Byte：
4 signal D of tableiPacket content
Byte：
If i-th of holder does not rotate, any signal is not sent to i-th of holder module.
If i-th of holder receives signal Ci, then angle, θ is rotated clockwise immediatelyi；If i-th of holder receives signal
Di, then rotated counterclockwise by angle θ immediatelyi, camera is directed toward to the latest position for being tracked target.
Step 5：After local server has sent signal in step 4, in order to ensure each holder is completed rotation in step 4
Turn operation, delay is waited for 200 milliseconds.After the completion of waiting for 200 milliseconds, whether detection user stopped system, if user does not have
There is halt system, then reenter step 2, otherwise system will be stopped.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. multi-cam based on ZigBee wireless sensor networks tracks camera system, which is characterized in that the system includes：It is local
Server, indoor positioning module, several holder modules and several camera modules；
Wherein, the local server is sent out with control centre for real-time analyzing processing modules as the processing center of information
The data sent and the work and linkage for controlling modules, local server is by ZigBee coordinators with Zigbee protocol and its
He communicates modules；
Indoor positioning module includes several anchor nodes used for positioning and 1 node to be positioned；The node peace to be positioned
Mounted in being tracked in target, the anchor node is placed indoors, and the indoor positioning module includes ZigBee communication module and leads to
Zigbee protocol is crossed to local server transmission data；
The holder module is for installing camera module and rotating camera module；Holder module includes ZigBee communication mould
Block, electronic compass, stepper motor, stepper motor driving plate, turntable, pallet, central controller and power module；Holder module
ZigBee communication module is connect with central controller, and central controller is connect with electronic compass and stepper motor driving plate respectively,
Stepper motor driving plate for control signal to be powered and provided to stepper motor is connect with stepper motor, the power module point
It Wei not ZigBee communication module, central controller, electronic compass and the power supply of stepper motor driving plate；For disposing turning for camera
Disk is mounted at the top of stepping motor rotating shaft；The pallet is set to the bottom of holder module, for install ZigBee communication module,
Stepper motor, stepper motor driving plate, central controller and power module；
The holder module is by Zigbee protocol to local server transmission data；
Collected video is transferred to local server by the camera module by WiFi.
2. the multi-cam according to claim 1 based on ZigBee wireless sensor networks tracks camera system, feature
Be the ZigBee communication module be CC2530, the electronic compass using AK8963C, stepper motor using 28BYJ-48,
Camera module of the stepper motor driving plate using ULN-2003 and for tracking photographic subjects object uses OV7620 videos
Acquisition chip is core.
3. the multi-cam based on ZigBee wireless sensor networks tracks image pickup method, which is characterized in that this method includes following
Step：
1) it installs on node to target to be tracked to be positioned, indoor positioning anchor node and M holder is placed in rectangular chamber, and
A camera is set on the turntable of each holder；
2) tracking target is treated to be positioned；
3) local server obtains the plane direction data of current each camera；
4) local server calculates rotation angle and the direction of rotation of each holder, and sends control command respectively to each cloud
Platform；
5) local server waits for T milliseconds, then detects whether user stopped system；If user's halt system, system
Stop；Otherwise, it enters step 2).
4. the multi-cam based on ZigBee wireless sensor networks tracks image pickup method as claimed in claim 3, which is characterized in that
The step 1) includes one electronic compass of setting on each holder, and it is consistent with electronic compass to adjust camera direction.
5. the multi-cam based on ZigBee wireless sensor networks tracks image pickup method as claimed in claim 4, which is characterized in that
The step 2), which is treated before tracking target is positioned, to be included in local server to position any one in anchor node
Anchor node is coordinate origin, inputs coordinate value (m of all other positioning anchor node relative to selected coordinate origini,ni),
Middle i indicates the number of anchor node, while inputting coordinate value (x of all holders relative to selected coordinate origini,yi), wherein i
Indicate the number of holder.
6. the multi-cam based on ZigBee wireless sensor networks tracks image pickup method as claimed in claim 5, which is characterized in that
Tracking target is treated in step 2) using weighted mass center location algorithm to be positioned to obtain the position (x of target to be trackede,ye), add
Weighing centroid localization algorithm expression formula is：
Wherein, mi,niFor the coordinate value of i-th of anchor node, wiThe weight d being endowed for i-th of anchor nodeiFor node to be positioned with
The distance between i-th of positioning anchor node, and
7. the multi-cam based on ZigBee wireless sensor networks tracks image pickup method as claimed in claim 6, which is characterized in that
Calculate the distance between node to be positioned and i-th of positioning anchor node diWhen measure indoors in advance it is multigroup for reflect it is to be positioned
The signal strength instruction RSSI data R for the signal strength that node is communicated with i-th of positioning anchor nodei；By being used most to curve
Small square law is fitted to obtain RiWith diEmpirical equation expression formula it is as follows：
di=a1×Ri 3+a2×Ri 2+a3×Ri+a4,
Wherein a1、a2、a3、a4For the function coefficients being calculated.
8. the multi-cam based on ZigBee wireless sensor networks tracks image pickup method as claimed in claim 7, which is characterized in that
Local server sends the signal B for indicating acquisition request directional information to M holder module in step 3), and M holder module is received
To after signal B, the geomagnetic data of electronic compass is obtained；M holder module sends XY axis and is directed toward vector (αi,βi), 1≤i≤M gives
Local server, the plane that local server obtains current each camera are directed toward data.
9. the multi-cam based on ZigBee wireless sensor networks tracks image pickup method as claimed in claim 8, which is characterized in that
Local server calculates the rotation angle θ of i-th of holder in step 4)iCalculation formula be：
Wherein (αi,βi) it is that the camera of i-th holder currently points to, (xe,ye) be current node to be positioned position coordinates；
In formula
Wherein 1≤i≤M.
10. the multi-cam based on ZigBee wireless sensor networks tracks image pickup method as claimed in claim 8, feature exists
In the method for the direction of rotation of i-th of holder of local server calculating is as follows in step 4)：
According to vector multiplication cross principle,Wherein 1≤i≤M, M are cloud
Platform module number, vectorFor the unit vector of direction straight up；
According to the right-hand rule of vectorial multiplication cross,Direction press the right hand fromIt is turned to the angle no more than πCome what is determined：
Work as αi×(ye-yi)-βi×(xe-xi) > 0 when, multiplication cross result direction is upward, according to the right-hand rule, i-th of holder inverse time
Needle rotates；
Work as αi×(ye-yi)-βi×(xe-xi) < 0 when, multiplication cross result is downward, and according to the right-hand rule, i-th of holder revolves clockwise
Turn；
Work as αi×(ye-yi)-βi×(xe-xi)=0, multiplication cross result are null vector, and i-th of holder does not rotate.
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